c.

Calculate the controller tuning parameters for the Proportional (P) and Proportional
Integral (PI) controllers using Direct Synthesis method as shown in Table 2. In this case,
use guidelines based on the method given by Chien and Fruehauf (1990) for selecting your τ C
.

Since G ( s )=Gv G p Gm = ( s+11 )( ( 3 s+1215) ( 6 s +1) ) (1) =( ( 6 s+1) ( 215

3 s+1 )( s+1 ) )

Consider the standard first-order-plus-time-delay (FOPTD) model,

K e−θs
G ( s )=
τs+1

Hence,
215 −3 s −s 215 e−4 s
G ( s )= ×e ×e =
6 s +1 6 s+ 1

Information:
K = 215
τ =6
θ =4

Using guidelines based on the method given by Chien and Fruehauf (1990) for selecting τ C ;

τ > τ C >θ
Since,6> τ C >4 τ C =5
i. Proportional (P)

K C= ( K1 )( θ+τ τ )
C

K C= ( K1 )( θ+τ τ )=( 2151 )( 4+6 5 )

C

K C =0.0031

ii. Proportional Integral (PI)

K C= ( K1 )( θ+τ τ )
C

K C= ( K1 )( θ+τ τ )=( 2151 )( 4+6 5 )

C

K C =0.0031

*To find τ I ,

Since, τ I =τ

τ I =τ=6

1 1
Hence, GC =K C 1+ ( τI s)=0.0031 1+
6s( )
d. Calculate the controller tuning parameters for the Proportional (P), Proportional Integral
(PI) controllers and Proportional Integral Derivative (PID) controllers using Internal Model
Control method as shown in Table 2. In this case, use guidelines based on the method given
by Chien and Fruehauf (1990) for selecting your τ C .

Since G ( s )=Gv G p Gm = ( s+11 )( ( 3 s+1215) ( 6 s +1) ) (1) =( ( 6 s+1) ( 215

3 s+1 )( s+1 ) )

By referring to Table 12.1 on IMC-Based PID Controller Settings for GC (s) in Process
Dynamics and Control, 2011 textbook for P, PI and PID;

K e−θs
G ( s )=
τs+1

Hence,
215 −3 s −s 215 e−4 s
G ( s )= ×e ×e =
6 s +1 6 s+ 1
Information:
K = 215
τ =6
θ =4

Using guidelines based on the method given by Chien and Fruehauf (1990) for selecting τ C ;

τ > τ C >θ
Since,6> τ C >4 τ C =5
i. Proportional (P)

By referring to Table 12.1 on IMC-Based PID Controller Settings for G C (s) in Process
Dynamics and Control, 2011 textbook;

For proportional controller;

τ
KcK =
τ C +θ
τ
KcK =
τ C +θ
6
Kc( 215)=
5+ 4
Kc=0.00 31
ii. Proportional Integral (PI)

By referring to Table 12.1 on IMC-Based PID Controller Settings for G C (s) in Process
Dynamics and Control, 2011 textbook;

For proportional integral controller;

τ
KcK =
τ C +θ
τ
KcK =
τ C +θ
6
Kc( 215)=
5+ 4
Kc=0.0031

*To find τ I ,

Since, τ I =τ

τ I =τ=6
 1 1
(
Hence, GC =K C 1+ )
τI s (
=0.0031 1+
6s )
iii. Proportional Integral Derivative (PID)

By referring to Table 12.1 on IMC-Based PID Controller Settings for G C (s) in Process
Dynamics and Control, 2011 textbook;

For proportional integral derivative controller;

θ
τ+
KcK =
( )
τC +
2
θ
2

θ
τ+
KcK =
( )
τC +
2
θ
2

4
6+

( )
Kc( 215)=
5+
2
4
2
Kc=1.143

*To find τ I ,
 θ
Since, τ I =τ +
2

θ 4
τ I =τ + =6+ =8
2 2

*To find τ D ,

τθ
Since, τ D =
2 τ +θ

τθ 6 (4)
τ D= = =1.5
2 τ +θ 2 ( 6 ) + 4

1 1
Hence, GC =K C 1+ ( τI s ) (
+ τ D s =1.143 1+ +1.5 s
8s )
e. Calculate the controller tuning parameters for the Proportional (P), Proportional Integral
(PI) controllers and Proportional Integral Derivative (PID) controllers using Integral Time
Absolute Error (ITAE) based on set-point changes as shown in Table 2.

Since G ( s )=Gv G p Gm = ( s+11 )( ( 3 s+1215) ( 6 s +1) ) (1) =( ( 6 s+1) ( 215

3 s+1 )( s+1 ) )

By referring to Table 12.3 on Controller Design Relations Based on ITAE Performance

Index and a First-Order-plus-Time-Delay Model in Process Dynamics and Control, 2011
textbook for P, PI and PID;

In this assessment, we will refer type of input based on set-point;

−θs
Ke
G ( s )=
τs+1

Hence,
215 −3 s −s 215 e−4 s
G ( s )= ×e ×e =
6 s +1 6 s+ 1

Information:
K = 215
τ =6
θ =4
Using guidelines based on the method given by Chien and Fruehauf (1990) for selecting τ C ;

τ > τ C >θ

Since,6> τ C >4 τ C =5
i. Proportional (P)

B
θ
Y=A ()
τ

Y =K K C

B
θ
K K C= A ()
τ
−0.916
( 215 ) K C =0.586 4()
6
K C =0.00 4 0
ii. Proportional Integral (PI)

B
θ
Y=A ()
τ

B
θ
K K C= A ()τ

B
θ
K K C= A ()τ
−0.916
( 215 ) K C =0.586 4 ()
6
K C =0 .0040

*To find τ I ,
τ θ
τI
=A +B
τ ()
τ θ
τI
=A +B
τ ()
6 4
τI
=1.03−0.165
6 ()
τ I =6.522
 1 1
Hence, GC =K C 1+ ( τI s) (
=0.00 40 1+
6.522 s )
iii. Proportional Integral Derivative (PID)

B
θ
Y=A ()
τ

B
θ
K K C= A
τ ()
B
θ
K K C= A ()
τ
−0.85
( 215 ) K C =0.965 4 ()
6
K C =1.362

*To find τ I ,
τ θ
τI
=A +B
τ ()
τ θ
τI
=A +B
τ ()
6 4
τI
=0.796−0.1465
6 ()
τ I =8.592
*To find τ D ,
τD θ B

τ
=A ()
τ
τD θ B

τ
=A
τ()
τD 4 0.929

6
=0.308
6 ()
τ D =1.268

1 1
Hence, GC =K C 1+ ( ) (
+ τ s =1.362 1+
τI s D 8.592 s
+ 1.268 s )
 Table D: Controller Parameters for Different Tuning Methods
Type of Controllers Direct Synthesis Internal Method Control ITAE
P Kc=0.0031 Kc=0.0031 Kc=0.0040
Kc=0.0031 Kc=0.0031 Kc=0.0040
PI τ I =6 τ I =6 τ I =6.522
- Kc=1.143 Kc=1.362
PID - τ I =8 τ I =8.592
- τ D =1.5 τ D =1.268
REFERENCES

1. Seborg, D. E., Mellichamp, D. A.,, Edgar, T. F. (2011). Process Dynamics and

Control. John Wiley & Sons. ISBN: 9780470646106